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This paper describes the hardware design and motion control algorithms that have been used by Team THOR in the DARPA Robotics Challenge (DRC) Trials 2013 competition. The robotic hardware we use, the THOR-OP robot, consists of standardized and general purpose actuators and structural components, which greatly reduce the build and reconfiguration time and allows for quick field repair capability. Our...
Dynamic bipedal walking is susceptible to external disturbances and surface irregularities, requiring robust feedback control to remain stable. In this work, we present a practical hierarchical push recovery strategy that can be readily implemented on a wide range of humanoid robots. Our method consists of low level controllers that perform simple, biomechanically motivated push recovery actions and...
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